KR20200106341A - Under-actuated gripping module - Google Patents

Abstract

An object shape adaptive gripping module comprises a base portion, a gripping frame, a worm shaft unit, a first gear unit, a second gear unit, and a push unit. The base portion includes a first frame extending in one direction and a second frame rotating with respect to the first frame. The gripping frame is rotated with respect to the second frame. The worm shaft unit is accommodated in the second frame and rotates by receiving a driving force from a driving unit. The first gear unit is selectively connected to a front side of the worm shaft unit to receive a driving force. The second gear unit is selectively connected to a rear side of the worm shaft unit to receive a driving force. The push unit selects the connection of the first gear unit or the connection of the second gear unit.

Description

Object shape adaptive gripping module{UNDER-ACTUATED GRIPPING MODULE}

The present invention relates to an object shape adaptive gripping module, and more particularly, as a finger module applied to a robot prosthetic arm, which can simulate a detailed operation of a finger as it is, and through this, a deformable operation is possible to conform to the shape of an object. It relates to an object shape adaptive gripping module.

In the case of the previously developed number of robots, as in Japanese Patent Laid-Open No. 2016-150429, it is characterized by realizing a motion similar to the hand motion using a section 4 link structure, which is shaped like a finger according to the position of the drive unit. It has a crystalline structure.

However, in the case of this section 4 link structure, it is difficult to design and operate because it has a complex structure. In particular, in the case of gripping an object having an arbitrary shape, the shape of the prosthetic is fixed according to the position of the preset driving unit. There is a limit to the more stable gripping of the cells.

On the other hand, in order to improve this problem, a technology in which each joint of a finger is independently driven has been developed, and techniques such as Korean Patent Publication No. 10-2018-0043501 are exemplified.

However, in order to independently drive the finger joints, a motor for implementing each finger joint must be separately provided, so the design becomes more complicated, and there is a problem that the weight and manufacturing cost of the prosthetic arm increase as the driving unit increases.

Accordingly, there is a need for a finger simulation module, that is, the number of robots, which can perform optimal gripping according to the shape of various objects by identically simulating the user's finger motion, and has a structure including a minimum driving unit. .

Japanese Patent Publication No. 2016-150429 Republic of Korea Patent Publication No. 10-2018-0043501

Accordingly, the technical problem of the present invention is conceived in this respect, and an object of the present invention is that it is possible to more stably grasp an object having an arbitrary shape by simulating the detailed motion of a finger, and a relatively simple design and thus It relates to an object shape adaptive gripping module capable of minimizing weight or manufacturing cost by applying a minimum driving unit.

A gripping module according to an embodiment for realizing the object of the present invention includes a base portion, a gripping frame, a worm shaft unit, a first gear unit, a second gear unit, and a push unit. The base part includes a first frame extending in one direction and a second frame rotating with respect to the first frame. The gripping frame is rotated with respect to the second frame. The worm shaft unit is accommodated in the second frame and rotates by receiving a driving force from a driving unit. The first gear unit is selectively connected to the front side of the worm shaft unit to receive a driving force. The second gear unit is selectively connected to the rear side of the worm shaft unit to receive a driving force. The push unit selects connection of the first gear unit or connection of the second gear unit.

In one embodiment, the push unit may include a hinge part connecting the first gear unit to the worm shaft unit, and a push part connecting the second gear unit to the worm shaft unit.

In one embodiment, the first end of the hinge unit is connected to the first gear unit, the second end is connected to the push unit, and as the push unit is pushed, the hinge unit is rotated around the center. I can.

In one embodiment, as the push part is pushed and the hinge part rotates around the center, the first gear unit rises and the connection is released from the front side of the worm shaft unit, and the second gear unit descends to the It can be connected to the rear side of the worm shaft unit.

In one embodiment, when the first gear unit is connected to the front side of the worm shaft unit, the second frame may rotate with respect to the first frame.

In one embodiment, the first gear unit includes a first power transmission gear connected to the worm shaft unit, a first spur gear connected to the first power transmission gear and a first power transmission shaft, and the first spur gear And a first fixed gear that is geared to and rotates the second frame with respect to the first frame.

In one embodiment, the first power transmission shaft may be connected to a hinge portion of the push unit.

In one embodiment, when the second gear unit is connected to the rear side of the worm shaft unit, the gripping frame may rotate with respect to the second frame.

In one embodiment, the second gear unit includes a second power transmission gear connected to the worm shaft unit, a second spur gear connected to the second power transmission gear and a second power transmission shaft, and the second spur gear And a second fixed gear that is geared to and rotates the gripping frame with respect to the second frame.

In one embodiment, the second gear unit may further include a fixed shaft connecting the second fixed gear and the gripping frame.

In one embodiment, the second power transmission gear may be connected to a push portion of the push unit.

In one embodiment, the driving unit may be accommodated in the first frame.

In one embodiment, a connection unit connected between the driving unit and the worm shaft unit to transmit the driving force to the worm shaft unit irrespective of a connection angle between the first frame and the second frame may be further included.

According to the embodiments of the present invention, unlike the conventional driving unit to be provided for each joint to implement the motion of each finger, since one driving unit can be applied to implement one finger operation, the reduction of the driving unit is reduced. Through this, it is possible to optimize design, reduce weight, and reduce manufacturing cost.

That is, through the first and second gear units that selectively connect with the worm shaft unit, even if one driving unit is provided, the operation of the finger can be implemented, and in particular, the push unit is selectively pushed according to the position of the object. Since the operation is implemented, it is possible to improve the adaptability of the object and implement optimal gripping for various types of objects.

In this case, through the design of the hinge part and the push part included in the push unit, even through a relatively simple operation, the optimum gripping of the object as described above can be implemented, so despite the simplification of design and operation, compared to the prior art You can better grip the object.

In addition, as a whole, the base part and the gripping frame are designed in a shape similar to the shape of the finger, and a series of modules for performing the driving mechanism are provided only in the base part, so in the gripping operation of the object through the actual gripping frame, the driving Interference by the modules can be minimized.

1 is a side view showing a holding module according to an embodiment of the present invention.
FIG. 2 is a perspective view illustrating the inside of the gripping module of FIG. 1.
3 is a side view showing the gripping module of FIG. 1 from a different direction.
4A and 4B are side views illustrating a first operating state of the gripping module of FIG. 1.
5A and 5B are side views illustrating a second operating state of the gripping module of FIG. 1.

The present invention will be described in detail in the text, since various modifications can be made and various forms can be obtained. However, this is not intended to limit the present invention to a specific form disclosed, it should be understood to include all changes, equivalents, or substitutes included in the spirit and scope of the present invention. In describing each drawing, similar reference numerals have been used for similar elements. Terms such as first and second may be used to describe various components, but the components should not be limited by the terms.

These terms are used only for the purpose of distinguishing one component from another component. The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise.

In the present application, terms such as "comprise" or "consist of" are intended to designate the presence of features, numbers, steps, actions, elements, parts, or a combination thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance the possibility of being added.

Unless otherwise defined, all terms, including technical or scientific terms, used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms as defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in this application. Does not.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings.

1 is a side view showing a holding module according to an embodiment of the present invention. FIG. 2 is a perspective view illustrating the inside of the gripping module of FIG. 1. 3 is a side view showing the gripping module of FIG. 1 from a different direction.

1 to 3, the gripping module 10 according to the present embodiment is applied to a prosthetic to simulate a gripping operation of one finger. In this embodiment, a structure for implementing one finger and Although the driving mechanism will be described, it is obvious that five gripping modules 10 can be arranged in a horizontal row to simulate one hand, that is, the entire prosthetic arm.

Accordingly, hereinafter, the gripping module 10 that implements the structure and driving mechanism of one finger will be described. In the case of simulating the entire prosthetic arm through a plurality of fingers, it can be implemented in a horizontal arrangement as described above. Description is omitted.

Further, the gripping module 10 is necessarily applied to a prosthetic arm to simulate the motion of a human finger, and may also be applied to an industrial robot and the like to be used as a gripping module for gripping the robot.

More specifically, the gripping module 10 includes a base part 100, a gripping frame 200, a driving part 300, a connection unit 400, a worm shaft unit 500, a first gear unit 600, and a second It includes a gear unit 700 and a push unit 800.

The base part 100 forms a lower frame of the gripping module 10 and includes a first frame 110, a second frame 120, and a connection part 130.

The first frame 110 has a plate shape extending in one direction, and the first frame 110 may mimic a part of a person's palm.

The driving unit 300 is accommodated on the upper surface of the first frame 110, and in order to form a storage space for the driving unit 300, the first frame 110 is positioned at a predetermined position of the first frame 110. 1 A fixed frame 111 may be additionally formed in a direction perpendicular to the extending direction of the frame 110.

Accordingly, the driving unit 300 may be positioned on the upper surface of the first frame 110 in a manner that is fixed to the fixing frame 111.

In an initial state, the second frame 120 extends along an extension direction of the first frame 110 and is connected to the first frame 110 through the connection part 130.

However, the second frame 120 may rotate about the connection part 130 with respect to the first frame 110, and a relative rotation mechanism of the second frame 120 will be described later.

Thus, the second frame 120 simulates a joint of a finger connected to the palm. That is, an operation in which a finger rotates with respect to the palm may be simulated as an operation in which the second frame 120 rotates with respect to the first frame 110.

The second frame 120 extends in the same manner as the first frame 110 to form a lower frame of the gripping module 10, and the extension frame 121 extends from the edge of the extension frame 121 It includes a side frame 122 extending in a direction perpendicular to the extending direction of the frame 121.

In this case, the side frames 122 may be formed as a pair on both sides of the extension frame 121 in parallel with each other, and accordingly, the connection part 130 may also be formed as a pair.

Thus, a predetermined storage space is formed between the extension frame 121 and the side frame 122, and the connection unit 400, the worm shaft unit 500, and the first gear unit are in the storage space. 600 and the second gear unit 700 may be accommodated.

Meanwhile, as will be described later, the push unit 800 may be positioned to cover the open upper side of the storage space formed by the extension frame 121 and the side frame 122 as a whole, and accordingly, the storage space The entire enclosed space is formed.

In this case, the side frame 122 may be designed in various shapes in addition to the structure shown in FIG. 1 in consideration of the shape or arrangement of the components accommodated therein.

The connection part 130 connects the first frame 110 and the side frame 122, and specifically, the connection frame 112 and the side surface protruding from the end of the first frame 110 The first protrusions 141 protruding from one end of the frame 122 are connected.

The connection part 130 may be screwed or the like, and a connection member capable of being connected so that the first frame 110 and the side frame 122 are relatively rotatable is sufficient.

Meanwhile, in the side frame 122, a second protrusion 142 is formed on a side opposite to the side where the first protrusion 141 is formed, and protrudes from the side frame 122.

In this case, the gripping frame 200, which will be described later, is connected to the second protrusion 142, which will be described later.

The gripping frame 200 is rotatably connected to the second protrusion 142 of the second frame 120, and one end of the second protrusion 142 and the gripping frame 200 is described later. It is connected through the fixed shaft 750 of the second gear unit 700.

Thus, in the initial state, the gripping frame 200 extends along the extending direction of the first frame 110 and the second frame 120, and the second frame 120 and the fixed shaft 750 Connected through.

However, the gripping frame 200 may also rotate around the fixed shaft 750 with respect to the second frame 120, and a relative rotation mechanism of the gripping frame 200 will be described later.

Thus, the gripping frame 200 simulates the tip of a finger that is additionally connected from one node of the finger. That is, an operation in which the tip of the finger is rotated with respect to one joint may be simulated as an operation in which the gripping frame 200 rotates with respect to the second frame 120.

The gripping frame 200 does not contain a separate member therein, and may be formed in a closed structure as shown in FIG. 1 similar to the tip of a finger.

In addition, in order to improve the gripping force with the object to be gripped, the outer surface of the gripping frame 200 is covered with a material having high friction or elasticity, or the gripping frame 200 itself is made of a material having frictional force and elasticity. Can be.

The driving unit 300 is accommodated and fixed on the first frame 110 in a storage space formed by the fixing frame 111 and the first frame 110.

The driving unit 300 may be, for example, a driving motor, thereby generating a rotation driving force to provide a rotation driving force through a driving shaft 310 connected to the driving unit 300.

One end of the connection unit 400 is connected to the drive shaft 310 to receive a rotational driving force provided from the driving unit 300, and the other end is connected to the worm shaft unit 500 to provide the rotational driving force. It is transmitted to the worm shaft unit 500.

In this case, the connection unit 400 may be a universal joint capable of transmitting a stable driving force even if the extending direction of the drive shaft 310 and the extending direction of the worm shaft unit 500 change relatively.

Thus, even when the second frame 120 rotates with respect to the first frame 110 so that the extension direction of the worm shaft unit 500 forms a predetermined angle with respect to the extension direction of the drive shaft 310 , The rotational driving force of the driving unit 300 through the connection unit 400 may be stably transmitted to the worm shaft unit 500.

The worm shaft unit 500 is accommodated in a storage space formed by the second frame 120, and one side is connected to the connection unit 400.

Since the worm shaft unit 500 is fixed on the second frame 120, the worm shaft unit 500 may be a worm shaft extending in a direction parallel to the extending direction of the second frame 120. That is, the worm shaft unit 500 has a shaft shape extending in one direction, and gear teeth are formed along the outer circumferential surface of the worm shaft unit 500.

On the other hand, for convenience of explanation, the worm shaft unit 500 includes a front gear 510 located closer to the connection unit 400, and the front gear 510 from the connection unit 400. A portion located far beyond is classified as a rear gear 520.

Thus, the first gear unit 600, which will be described later, is selectively gear-coupled to the front gear 510, and the second gear unit 700, which will be described later, is selectively gear-coupled to the rear gear 520.

That is, when the worm shaft unit 500 is provided with the rotational driving force, the worm shaft unit 500 continuously rotates. When the front gear 510 is gear-coupled to the first gear unit 600, the rotational driving force of the worm shaft unit 500 is When transmitted to the first gear unit 600 and the rear gear 520 is gear-coupled to the second gear unit 700, the rotational driving force of the worm shaft unit 500 is the second gear unit 700 Is delivered.

The first gear unit 600 is selectively gear-coupled with the front gear 510 to receive a driving force, and the first power transmission gear 610, the first power transmission shaft 620, and the first spur gear ( 630) and a first fixed gear 640.

The first power transmission gear 610 is a worm gear selectively gear-coupled to the front gear 510 of the worm shaft unit 500, and receives the rotational driving force of the worm shaft unit 500 and transmits the first power. It serves as a shaft 620.

Accordingly, the first power transmission shaft 620 connected to the first power transmission gear 610 and the first spur gear 630 at the same time reduces the rotational driving force of the first power transmission gear 610. 1 It is provided to the spur gear 630.

The first spur gear 630, as a so-called worm wheel, rotates by a rotational driving force provided through the first power transmission shaft 620, and is engaged with the first fixed gear 640 through gear engagement. .

Accordingly, the first fixed gear 640 finally receives the rotational driving force.

The first fixed gear 640 is fixed through the connection part 130 on the connection frame 112 on one side of the pair of connection frames 112, and accordingly, the first fixing gear 640 The rotational driving force is provided to the second frame 120 through the connection part 130.

That is, when the first fixed gear 640 rotates, the second frame 120 rotates with respect to the first frame 110. In this case, the relative rotation direction of the second frame 120 is determined according to the rotation direction of the first fixed gear 640, and from the initial state shown in FIGS. 1 and 2, the second frame 120 When this rotates, the second frame 120 may rotate in a counterclockwise direction with respect to the first frame 110.

In this way, the rotational drive of the second frame 120 simulates a driving operation in which one finger of a finger rotates with respect to the palm of the prosthetic arm.

In this case, since a plurality of components are accommodated on the second frame 120, a predetermined torque is required to rotate the second frame 120 with respect to the first frame 110.

Therefore, by adjusting the ratio of the gear teeth between the first fixed gear 640 and the first spur gear 630, sufficient to rotate the second frame 120 with the first fixed gear 640 Allows torque to be provided.

On the other hand, when the first power transmission gear 610 is released from the state in which the front gear 510 is engaged, the first fixed gear 640 is no longer provided with a rotational driving force, and thus the second frame Rotation of 120 with respect to the first frame 110 is stopped.

The second gear unit 700 is selectively gear-coupled with the rear gear 520 to receive a driving force, and a second power transmission gear 710, a second power transmission shaft 720, and a second spur gear ( 730), and a second fixed gear 740 and a fixed shaft 750.

The second power transmission gear 710 is a worm gear selectively gear-coupled to the rear gear 520 of the worm shaft unit 500, and receives the rotational driving force of the worm shaft unit 500 and transmits the second power. It serves as the axis 720.

Accordingly, the second power transmission shaft 720 connected to the second power transmission gear 710 and the second spur gear 730 at the same time reduces the rotational driving force of the second power transmission gear 710. 2 It is provided to the spur gear 730.

The second spur gear 730, as a so-called worm wheel, rotates by a rotational driving force provided through the second power transmission shaft 720, and is engaged with the second fixed gear 740 through gear engagement. .

Accordingly, the second fixed gear 740 finally receives the rotational driving force.

In this case, since the second fixed gear 740 rotates while being fixed to the fixed shaft 750, the fixed shaft 750 also rotates at the same time as the second fixed gear 740 rotates.

Meanwhile, as shown in FIG. 1, the fixed shaft 750 connects the second protrusion 142 of the side frame 122 and one side of the gripping frame 200 to each other, and the fixed shaft ( The rotational driving force of 750 induces rotation of the gripping frame 200 with respect to the side frame 122.

That is, when the fixed shaft 750 rotates, the gripping frame 200 rotates with respect to the second frame 120. In this case, the relative rotation direction of the gripping frame 200 is determined according to the rotation direction of the fixed shaft 750, and when the fixed shaft 750 rotates from the initial state shown in FIGS. 1 and 2 , The gripping frame 200 may rotate counterclockwise with respect to the second frame 120.

In this way, the rotational drive of the gripping frame 200 simulates the rotational motion of the tip of a finger that is additionally connected from one joint of the finger to one joint of the finger in the prosthetic arm.

In this case, since the holding frame 200 also has a predetermined weight, a predetermined torque is required to rotate the holding frame 200 with respect to the second frame 120.

Accordingly, sufficient torque to rotate the gripping frame 200 with the second fixed gear 740 by adjusting the ratio of the gear teeth between the second fixed gear 740 and the second spur gear 630 To be provided.

On the other hand, when the second power transmission gear 710 is released from the state in which the rear gear 520 is engaged, the second fixed gear 740 is no longer provided with a rotational driving force, and thus the gripping frame ( The rotation of the second frame 120 of 200) is stopped.

The push unit 800 selects a connection of the first gear unit 600 to the worm shaft unit 500 or a connection of the second gear unit 700 to the worm shaft unit 500.

That is, according to the operation of the push unit 800, the first power transmission gear 610 is connected to the front gear 510 to receive power, or the second power transmission gear 710 is the rear gear It is connected to 520 to receive power.

More specifically, the push unit 800 includes a hinge portion 810 and a push portion 820.

As shown in FIG. 3, the hinge portion 810 has a bar-shaped end extending in a vertical direction, that is, a pair of bars extending in different directions horizontally at the upper and lower ends ( bar) has a shape that connects.

In this case, the center of the bar extending in the vertical direction is defined as the center 811, and the end of the bar extending in the direction of the first gear unit 600 from the lower end is defined as a first end 812, and , An end of the bar extending from the upper end toward the second gear unit 700 may be defined as a second end 813, and the hinge part 810 rotates around the center 811 do.

That is, the first end 812 of the hinge part 810 is fixed to the center of the first spur gear 630, that is, the first power transmission shaft 620, and the second end of the hinge part 810 The end 813 is fixed on the push part 820.

The push part 820 includes an upper surface 821 and a side surface 822.

The upper surface 821 has a predetermined area and covers an upper portion that is open in the storage space formed by the first frame 120.

The side surface 822 extends downward from the upper surface 821 and has a predetermined plate shape, and an end thereof is in contact with the upper surface of the second power transmission gear 710.

In addition, the second end 813 of the hinge part 810 is fixed on the side surface 822.

As shown in FIG. 3, when a force is applied to the upper surface 821 in the direction of an arrow by an external force and pushed, the push unit 820 is generally in the direction of the arrow, that is, in the downward direction, It moves in the direction toward the base part 100.

In this way, since the upper surface 821 forms a predetermined area, it is possible to receive a force applied from the outside, and the upper surface 821 and the side surface 822 are simultaneously moved downward. Will move.

In this case, the force applied from the outside may be said to be a force generated when an object or an object to be gripped comes into contact with the upper surface 821, and thus the push unit 800 When a force is applied from an object to be gripped, it moves in a downward direction, that is, in a direction toward the base part 100.

Meanwhile, in the initial state, the push unit 800 is positioned so that a predetermined gap 501 is formed between the second power transmission gear 710 and the rear gear 520, but the push unit 800 is As it moves downward, the gap 501 disappears, and the second power transmission gear 710 is directly geared onto the rear gear 520.

That is, when an external force is applied to the upper surface 821, the second end 813 of the hinge portion 810 fixed to the side surface 822 also moves downward, and accordingly, the hinge portion 810 ) Is rotated around the center (811). In this case, the rotation direction may be a counterclockwise direction as shown in FIG. 3.

In addition, when the hinge portion 810 rotates in a counterclockwise direction around the central portion 811 as described above, the first end 812 of the hinge portion 810 moves upward, and thus Accordingly, the first spur gear 630 is also moved upward, so that the first power transmission gear 610 connected to the first spur gear 630 through the first power transmission shaft 620 is also the same. It moves in the upward direction. Thus, the first power transmission gear 610 is released from the front gear 510 and the gear coupling.

Hereinafter, detailed operations of the gripping module 10 described with reference to FIGS. 1 to 3 will be described.

4A and 4B are side views illustrating a first operating state of the gripping module of FIG. 1.

First, referring to FIG. 4A, in an initial state, the first frame 110 and the second frame 120 extend in one direction, and the gripping frame 200 also extends the second frame 120. It extends in the same direction as the direction.

Of course, in this case, the gripping frame 200 is a replica of the tip of a finger, and the tip may have a slightly curved frame shape like a finger.

In this initial state, the first power transmission gear 610 of the first gear unit 600 is located in a state in which gear is engaged with the front gear 510 of the worm shaft unit 500, and the second gear unit The second power transmission gear 710 of 600 is positioned while maintaining a predetermined gap 501 with the rear gear 520 of the worm shaft unit 500.

Thereafter, referring to FIG. 4B, when rotational driving force is generated from the driving unit 300 and the driving shaft 310 is rotated, the rotational driving force of the worm shaft unit 500 is controlled by the front gear 510. 1 is provided as a power transmission gear 610, and this rotational driving force is finally provided to the first fixed gear 640.

Thus, as shown, when the first fixed gear 640 meshes with the first spur gear 630 and rotates counterclockwise, the second frame 120 becomes the first frame 110 It rotates counterclockwise with respect to and rises.

As described above, in the finger copying module, this may simulate an upward rotation of one finger with respect to the palm.

5A and 5B are side views illustrating a second operating state of the gripping module of FIG. 1.

Thereafter, as shown in FIG. 4B, when the second frame 120 continuously rotates in a counterclockwise direction, as shown in FIG. 5A, a predetermined object is positioned and the upper surface 821 of the push unit 820 ), as shown by the arrow, the push unit 820 is moved downward.

In this way, when the push part 820 moves downward, that is, in a direction toward the second frame 120, the side surface 822 also moves simultaneously, and the hinge fixed to the side surface 822 The second end 813 of the branch part 810 moves in the same direction as the moving direction of the push part 820.

Thus, as the push part 820 moves, the second power transmission gear 720 in contact with the side surface 822 moves in a downward direction, that is, in the rear gear 520 of the worm shaft unit 500. Thus, the second power transmission gear 720 and the rear gear 520 are gear-coupled.

At the same time, as the second end 813 of the hinge portion 810 is moved, the hinge portion 810 rotates in a clockwise direction, as shown, around the central portion 811, and thus The first end 812 of the hinge part 810 moves in the direction indicated by an arrow, that is, in a direction away from the front gear 510 of the worm shaft unit 500.

Thus, the first power transmission gear 610 coupled to the front gear 510 of the worm shaft unit 500 is released from the gear coupling with the front gear 510.

Referring to FIG. 5B, as described above, the first power transmission gear 610 and the front gear 510 and the gear coupling are released, and the second power transmission gear 810 and the rear gear 520 As the gear is engaged, the driving force provided from the driving unit 300 is eventually provided to the second fixed gear 740 and the fixed shaft 750 through the second power transmission gear 810.

Thus, the fixed shaft 750 rotates in a counterclockwise direction, and the gripping frame 200 fixed to the fixed shaft 750 is counterclockwise as shown with respect to the second frame 120. It will rotate.

That is, while the second frame 120 is rotated while maintaining a predetermined angle with respect to the first frame 110, the gripping frame 200 is additionally rotated with respect to the second frame 120. Therefore, as shown in FIG. 5B, it is possible to perform gripping on an object or a gripping object (not shown) positioned on the upper side.

Meanwhile, the rotation operation of the second frame 120 and the gripping frame 200 in the counterclockwise direction described above is a driving for gripping an object, and the operation for releasing the gripped object is described above. Since the driving mechanism and the opposite mechanism can be implemented in the same way, duplicate descriptions will be omitted.

As described above, in the gripping module 10 according to the present embodiment, when contact with an object occurs through the push unit 800 without having a driving unit for each finger joint, that is, accurate gripping of the object When the operation of is required, by selectively changing the gear to be engaged, it is possible to perform gripping on the object.

According to the embodiments of the present invention as described above, unlike the conventional driving unit to be provided for each joint to implement the motion of each finger, since one driving unit can be applied to implement one finger operation, the driving unit It is possible to optimize design, reduce weight, and reduce manufacturing cost through reduction of

That is, through the first and second gear units that selectively connect with the worm shaft unit, even if one driving unit is provided, the operation of the finger can be implemented, and in particular, the push unit is selectively pushed according to the position of the object. Since the operation is implemented, it is possible to improve the adaptability of the object and implement optimal gripping for various types of objects.

In this case, through the design of the hinge part and the push part included in the push unit, even through a relatively simple operation, the optimum gripping of the object as described above can be implemented, so despite the simplification of design and operation, compared to the prior art You can better grip the object.

In addition, as a whole, the base part and the gripping frame are designed in a shape similar to the shape of the finger, and a series of modules for performing the driving mechanism are provided only in the base part, so in the gripping operation of the object through the actual gripping frame, the driving Interference by the modules can be minimized.

Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art will be able to variously modify and change the present invention without departing from the spirit and scope of the present invention described in the following claims. You will understand that you can.

10: gripping module 100: base
110: first frame 120: second frame
200: gripping frame 300: driving unit
310: drive shaft 400: connection unit
500: worm shaft unit 510: front gear
520: rear gear 600: first gear unit
610: first power transmission gear 630: first spur gear
640: first fixed gear 700: second gear unit
710: second power transmission gear 750: second fixed gear
800: push unit 810: hinge

Claims (13)

A base portion including a first frame extending in one direction and a second frame rotating with respect to the first frame;
A gripping frame rotated with respect to the second frame;
A worm shaft unit accommodated in the second frame and rotated by receiving a driving force from a driving unit;
A first gear unit selectively connected to a front side of the worm shaft unit to receive a driving force;
A second gear unit selectively connected to a rear side of the worm shaft unit to receive a driving force; And
A gripping module comprising a push unit for selecting the connection of the first gear unit or the connection of the second gear unit. The method of claim 1, wherein the push unit,
A hinge part connecting the first gear unit to the worm shaft unit; And
A gripping module comprising a push unit connecting the second gear unit to the worm shaft unit. The method of claim 2,
The first end of the hinge part is connected to the first gear unit, the second end is connected to the push part,
The gripping module, characterized in that as the push portion is pushed, the hinge portion rotates around a central portion. The method of claim 3,
As the push part is pushed and the hinge part rotates around the center,
The holding module, wherein the first gear unit rises and is disconnected from the front side of the worm shaft unit, and the second gear unit descends and is connected to the rear side of the worm shaft unit. The method of claim 1,
When the first gear unit is connected to a front side of the worm shaft unit, the second frame rotates with respect to the first frame. The method of claim 5, wherein the first gear unit,
A first power transmission gear connected to the worm shaft unit;
A first spur gear connected to the first power transmission gear and a first power transmission shaft; And
And a first fixed gear that is gear-engaged with the first spur gear to rotate the second frame with respect to the first frame. The method of claim 6,
The holding module, characterized in that the first power transmission shaft is connected to the hinge of the push unit. The method of claim 1,
When the second gear unit is connected to the rear side of the worm shaft unit, the gripping frame is rotated with respect to the second frame. The method of claim 8, wherein the second gear unit,
A second power transmission gear connected to the worm shaft unit;
A second spur gear connected to the second power transmission gear and a second power transmission shaft; And
And a second fixed gear that is gear-engaged with the second spur gear to rotate the gripping frame with respect to the second frame. The method of claim 9, wherein the second gear unit,
A gripping module, further comprising a fixed shaft connecting the second fixed gear and the gripping frame. The method of claim 9,
The holding module, characterized in that the second power transmission gear is connected to the push portion of the push unit. The method of claim 1,
The holding module, characterized in that the driving unit is accommodated in the first frame. The method of claim 12,
The gripping module further comprises a connecting unit connected between the driving unit and the worm shaft unit and transmitting the driving force to the worm shaft unit regardless of a connection angle between the first frame and the second frame.

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